Abstract
To solve the problem of vehicle formation transportation in off-road environment, we design an autonomous vehicle following control system based on detection, realizing vehicle following on muddy bumpy and crooked roads with a maximum speed of 35 km/h. First, the detection algorithm of multi-sensor fusion is applied to detecting and tracking the guiding vehicle. Then an anti-interference feedback controller is designed for speed tracking and an emergency braking algorithm is designed to improve the safety of emergency. A lateral controller according to kinematic model is designed for lateral tracking. Furthermore, the robustness and adaptability of the proposed method are validated by joint simulations of Carsim and MATLAB/Simulink. Finally, the system is deployed on an electric unmanned vehicle to realize vehicle autonomous following with a maximum speed of 35 km/h on a 3.6 km stretch of road with bump, muddy and continuous curves. The results demonstrate the accuracy of detection and the stability of the tracking.
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